CN1208782A - Textile machine roll transmission device for producing argyle lag cylinder - Google Patents
Textile machine roll transmission device for producing argyle lag cylinder Download PDFInfo
- Publication number
- CN1208782A CN1208782A CN98118346A CN98118346A CN1208782A CN 1208782 A CN1208782 A CN 1208782A CN 98118346 A CN98118346 A CN 98118346A CN 98118346 A CN98118346 A CN 98118346A CN 1208782 A CN1208782 A CN 1208782A
- Authority
- CN
- China
- Prior art keywords
- transmission device
- winding drum
- model
- simulation model
- running section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
- B65H54/74—Driving arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Textile Engineering (AREA)
- Software Systems (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Winding Filamentary Materials (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
- Looms (AREA)
- Spinning Or Twisting Of Yarns (AREA)
Abstract
In the course of regulating an electronically commutated d.c. motor as the drive motor of a winding device of a textile machine, the resolution of known angular rotation sensing systems is insufficient to assure a jerk-free drive of the drum at low rpm. It is therefore proposed by the invention to introduce a so-called observer into the regulating circuit for regulating the motor rpm in which the signals of the angular rotation sensing system for the commutation of the motor are generated.
Description
The present invention relates to the roll transmission device of the preamble qualification of a claim 1.
Aspect the bobbin machine, for example known by DE 4336312A1: mound bobbins by means of a friction roller, be that so-called winding drum comes transmission, the latter is used for lining simultaneously and puts yarn.The winding drum of each winding position has the transmission device of oneself in the case, and this transmission device is subjected to the control of winding position computer.Usually the winding drum transmission device constitutes with the dc motor of electronically commutated, because this transmission device is structurally simple, and cost is relatively reasonable thus.
In this dc motor, the change of current of drive current is controlled by Hall element.Similarly Hall element also is used to detect the revolution of winding drum transmission device.In other words, provide revolution information by an angle sender system, this revolution information is by means of known control method, for example use the PID adjuster to convert a predetermined winding drum revolution to.
In this known regulating system, when winding drum rotates with slow speed, be exactly this situation for example at start-up period, revolution is regulated always difficult.When slow speed, this known sensing system is because of its thick relatively angular resolution, so when certain revolution is following, just can not provide enough accurate information, so that usually can not obtain the rotation of shock-free winding drum about the drive motor rotor angular position.For example, supposing provides a kind of Hall elements and Hall sensor systems that 32 relative magnet rings are for example arranged that are provided with two 90 degree that stagger, then angular resolution and thus the rotor of transmission device rotatablely move and only can discern with the stepping amounts of about 2.8 degree.
As indicated in curve a among Fig. 1, change of current control for a drive motor, thick so relatively angular resolution can not be enough to guarantee, in this dynamical system, transmission device-winding drum evenly starts and yarn end can oppositely evenly rotate when seeking.By curve a among Fig. 1 as can be seen, not a kind of linear growth of angular speed in known regulating system, but a kind of acceleration of stagewise.The accelerator that connects the back winding drum at yarn has especially been disturbed in a kind of like this operation of impact type, because caused uneven yarn pulling force thus, it has not only produced negative interaction to quality of yarn but also to the structure that bobbin is reeled, and during in the winding drum slow running, as the searching yarn and thread head, can disturb the operation of reeling, because the yarn that the inhomogeneous rotation meeting of winding drum for example causes reeling forms loops on water chestnut cylindrical fireworks pipe.
Though the sensing system that has a relative high angular resolution by use can be avoided drive motor and the inhomogeneous operation of winding drum thus when slow speed, then needs sizable cost for such high resolution system.Therefore this system is quite expensive, and wherein the precision increase cost along with accessible angular resolution sharply rises.
Thereby task of the present invention is, foundes a kind of winding drum transmission device with low cost, and it all can guarantee even operation without a doubt during not only at start-up period but also at slow speed.
This task will solve by the device with claim 1 feature according to the present invention.
The favourable technical scheme that is modified to dependent claims of the present invention.
The advantage that winding drum transmission device according to the present invention has is, although used angle sender system with low cost, coarse resolution, impacts operation even also can guarantee the nothing of winding drum when the drive motor slow speed.By use a kind of simulate the operation of true transmission device-winding drum system model-it is connected in the regulating loop of transmission device rotational speed regulation, just can guarantee, even when slow speed, promptly the tendency of impact operation can not take place in this transmission device yet when being lower than a revolution below the minimum revolution boundary line.By this model being coupling in the output of true adjusting section, this model will adapt to real revolution constantly to be changed.
In the case, be preferably in the computer of bobbin machine or corresponding winding position the model of setting up this transmission device-winding drum system by known transmission data and winding drum data with digital form.But also can attaching, this model has outside analog quantity part.This model to adjuster provide by coarse resolution angle transmitting system can not provide, measure state parameter between pulse at it, with the revolution of control winding drum drive motor.
By using a switch that simulation model and regulating loop are disconnected, and quantity of state can be directly offers adjuster by the output of true track section.When being lower than a threshold value, this model works again, and true track section output is cut off to the direct connection of adjuster.
This model for example can come work according to the pattern of so-called Shandong think of Burger (Luenberger) viewer.This viewer is known, for example has been described in detail in the professional book " regulation technology " that Ao Tefulinge (OttoF llinger), and it was issued by Heidelberg Dr.AlfredH ü thig publishing house in 1985.Also above-mentioned " Luenberger viewer " done corresponding description at the 340th page of this specialty book and nextpage.
This model has been scheduled to the regulating quantity identical with true transmission device.The combination results of reality (IST) signal on a summing junction by this model output signal and measurement goes out an amount, can make the dynamic property of model adapt to the dynamic property of real running section by this amount.Then this model state is sent to the revolution speed regulator of transmission device, state regulator for example.At this moment this adjuster influences real running section according to model state.In other words, the viewer of access can be accomplished provides the internal state with sufficient accuracy to adjuster, and this state is as existing in true running section.This has not just been needed the higher angular resolution of angle sender system.Signal in the regulating loop is handled according to the technology that is adopted and is carried out and available digital amount or analog quantity realize, and can not bring influence to essence of the present invention thus.
To describe in detail by Fig. 2 for winding drum control method of the present invention.When the sufficiently high revolution of dc motor, it is just enough that simple regulating loop is used to regulate the current i of transmission device, wherein to the true angular velocity ω ist of adjuster 1 input transmission device as regulating quantity.The corresponding adjusting controlled amount ω of adjuster 1 by a rated value transmitter W, be winding speed.Transmission device and winding drum constitute the chief component of true running section S.In transmission device-winding drum system 2, acting on two interference volume Z1 and Z2.One the interference volume Z1 in section S is the error of electric current final stage 12 for example from external action on summing junction 4, and this electric current final stage is for example carried out a pulsewidth modulation.All internal interference amounts of this transmission device-winding drum system 2 are as other interference volume Z2, the starting conditions when for example being the inertia of internal friction, rotor and winding drum of motor and system's starting.The combination 3 of the internal state of this transmission device-winding drum system 2 (angle, angular speed, angular acceleration) produces the actual angular speed ω ist as output quantity.This actual angular speed ω ist is connected on the summing junction 5 of adjuster 1 front when normally moving as regulating quantity.Is to realize by a switch 9 of diagram on off state at normal winding run duration regulating quantity ω ist to the feedback of adjuster 1.
As known description, when little revolution, as quickening and the inverted running during the guide is with when removing the relevant loose thread unwinding of broken yarn on water chestnut cylindrical fireworks tube-surface, the pulse train of angle transmitting system that predicts the coarse resolution of ist actual angular speed is extremely coarse.The internal state of real system, only can inaccuracy ground measured as electric current and angular speed, so that can not accomplish the adjusting without a doubt of the dc motor electronics change of current and also not reach the operation that winding drum unit impacts thus.
In the case, according to the present invention, this existing regulating loop can be by model, be that viewer B changes route, and is as illustrated in Figure 2.Here it is, and regulating quantity angular velocity omega ist cuts off at switch 9 places to the direct signal path of summing junction 5, and viewer B is connected on the true running section S as section in parallel.Mainly import the regulating quantity i that comes from adjuster 1 for this Model B, promptly be used for the respective drive electric current of winding drum transmission device, at this moment the switch 10 in regulating quantity i signal path is switched to viewer B.In other words, will be in the calculator of viewer B by means of the characteristic of corresponding calculated model true running section S of analog computation under the situation of being scheduled to same adjustment amount i by adjuster 1.
This Model B comprises the combination 7 of the internal state of transmission device-winding drum system 6 that analog computation goes out and this analog computing system 6.The internal state that can try to achieve from system 6, be that current i B and angular velocity omega B are model state, they are by a feedback vector 11, be sent to summing junction 5 and be sent to adjuster 1 thus as regulating quantity ω b after multiplying each other with a constant therein, they are used for regulating the true winding drum transmission device of running section S on adjuster 1.
The internal state of the transmission device of analog computation-winding drum system 6 combination 7 provides the angular velocity omega B of analog computation, it on summing junction 8 with oppositely addition of actual angular speed ω ist.The amount ω d that is produced is input to the transmission device-winding drum system 6 of the analog computation of corresponding viewer B at the viewer duration of work, and makes the dynamic characteristic of this analog computing system 6 adapt to the characteristic of true transmission device-winding drum system 2 thus.
This model, be that viewer B preferably is connected with regulator loop in the case at least so longways, promptly until coarse resolution angle sender system can provide so close signal chains according to sufficiently high revolution, till the shock-free operation of activation assurance winding drum transmission device.
When the calculator speed of Model B was enough fast, this viewer B also can remain attached in the regulating loop always, still owing to the high signal density of angle transmitter when high revolution, is used for shock-free operation like this and there is no need.
The result of this adjusting represents with the curve b among Fig. 1.As finding out from curve b, in the adjusting of winding drum transmission device, introduce a viewer B and caused the level and smooth of signal, so that no longer be that the level that has of drive motor rotor quickens that (curve a) but the rising of transmission device angular velocity omega has realized an operation of almost recognizing less than fluctuation.Curve b is actual in the case is to be made of the small stair that increases progressively.
Claims (7)
1. produce the winding drum transmission device of the weaving loom of argyle lag cylinder, its drive motor constitutes and has with the dc motor of electronically commutated and is used to regulate adjuster (1) rotor revolution number, process angle transmitter output quantity, it is characterized in that:
Gone up a simulation model (B) in parallel comprising the true running section (S) that is provided with a coarse resolution angle sender system (2a) basically, this model comprises the system (6) of the transmission device-winding drum of an analog computation basically, this analog computing system is provided the signal of coarse resolution angle sender system (2a) in order to adapt to this true running section (S) constantly; And at least one quantity of state of this model (ω b) is as regulating quantity.
2. according to the winding drum transmission device of claim 1, it is characterized in that: simulation model (B) can separate with the regulating loop of the revolution that is used to regulate the drive motor rotor by means of a switch (9).
3. according to the winding drum transmission device of claim 2, it is characterized in that: this switch (9) is a threshold switch, and it makes regulating loop and being connected of simulation model (B) separate when a given magnitude of angular velocity (ω) is above.
4. according to the winding drum transmission device of one of claim 1 to 3, it is characterized in that: simulation model (B) is so-called Shandong grace Burger (Luenberger) viewer.
5. according to the winding drum transmission device of one of claim 1 to 4, it is characterized in that: the output of true running section (S) and the corresponding output end of simulation model (B) oppositely are connected on the summing junction (8), its neutralization number is input to an input of simulation model (B) again, is used to make model dynamically adaptive to true running section (S).
6. according to the winding drum transmission device of one of claim 1 to 5, it is characterized in that: the angular speed of true running section (S) or angular speed (the ω ist of simulation model (B), ω b) is imported on the summing junction (5), this summing junction (5) is also oppositely imported specified angular speed (ω soll), and the output of summing junction then is connected to adjuster (1).
7. according to the winding drum transmission device of one of claim 1 to 6, it is characterized in that: the input of model (B) can be connected on the output of adjuster (1).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19735581A DE19735581A1 (en) | 1997-08-16 | 1997-08-16 | Bobbin drum drive |
| DE19735581.1 | 1997-08-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1208782A true CN1208782A (en) | 1999-02-24 |
| CN1217836C CN1217836C (en) | 2005-09-07 |
Family
ID=7839192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN981183468A Expired - Fee Related CN1217836C (en) | 1997-08-16 | 1998-08-14 | Textile machine roll transmission device for producing argyle lag cylinder |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US6002230A (en) |
| EP (1) | EP0901979B1 (en) |
| JP (1) | JP4603637B2 (en) |
| CN (1) | CN1217836C (en) |
| DE (2) | DE19735581A1 (en) |
| TR (1) | TR199801571A3 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005022448A1 (en) * | 2005-05-14 | 2006-11-16 | Saurer Gmbh & Co. Kg | Thread laying drive, especially for working station of textile machine, has controller comprising multivariable control system to accurately control actual angular position of thread guide by at least one correcting variable |
| DE102005044339B4 (en) | 2005-09-16 | 2016-01-14 | Siemens Aktiengesellschaft | Method for operating a winder machine |
| ITTO20070767A1 (en) * | 2007-10-26 | 2008-01-25 | Elsy S R L | METHOD OF CONTROL FOR POSITIVE YARN FEEDERS |
| DE102011083019A1 (en) | 2011-09-20 | 2013-03-21 | Robert Bosch Gmbh | Method and device for determining the rotor position and the speed of a rotating field machine |
| DE102012023557A1 (en) * | 2012-12-01 | 2014-06-05 | Saurer Germany Gmbh & Co. Kg | Method for controlling the acceleration of a bobbin drive roller |
| DE102012023558A1 (en) * | 2012-12-01 | 2014-06-05 | Saurer Germany Gmbh & Co. Kg | Method for controlling the acceleration of a bobbin drive roller |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2219755C3 (en) * | 1972-04-21 | 1978-04-06 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Device for keeping the thread tension constant on precision cross-winding machines |
| US4434458A (en) * | 1981-09-16 | 1984-02-28 | Fischer & Porter Company | Auxiliary channel for direct digital control system |
| US4514672A (en) * | 1983-04-06 | 1985-04-30 | Ampex Corporation | Adaptive apparatus and method for control |
| JPS61164481A (en) * | 1985-01-12 | 1986-07-25 | Fanuc Ltd | Speed control system |
| IT1198061B (en) * | 1986-10-22 | 1988-12-21 | Savio Spa | APPARATUS AND PROCEDURE FOR THE ADJUSTMENT OF THE OPERATION COMMANDS IN THE WINDING OF WIRES IN TEXTILE MACHINES |
| JPS63274385A (en) * | 1987-04-30 | 1988-11-11 | Fanuc Ltd | Speed controller for servo-motor |
| DE3717749A1 (en) * | 1987-05-26 | 1988-12-15 | Zubler Geraetebau | Method for the active prevention of thread breaks on spinning-machine, twisting-machine and winding-machine drives and for their fully automatic setting to maximum production/regulating out speeds |
| DE3731984A1 (en) * | 1987-09-23 | 1989-04-13 | Bosch Gmbh Robert | Method for adaptive position control in electromechanical drives |
| DE4029409C2 (en) * | 1990-09-17 | 2000-05-25 | Thomson Brandt Gmbh | Method and device for motor control |
| DE4132881A1 (en) * | 1991-10-03 | 1993-07-29 | Papst Motoren Gmbh & Co Kg | Brushless DC motor control circuit - has circuit for phase displacement of commutation times depending on motor speed using functional relationship |
| JPH05176571A (en) * | 1991-12-20 | 1993-07-13 | Tokyo Electric Co Ltd | Drive controller for servomotor |
| CA2129761A1 (en) * | 1993-08-11 | 1995-02-12 | David G. Taylor | Self-tuning tracking controller for permanent-magnet synchronous motors |
| DE4336312C2 (en) * | 1993-10-25 | 2003-09-25 | Schlafhorst & Co W | Device for winding packages |
| DE19503492A1 (en) * | 1995-02-03 | 1996-08-08 | Bosch Gmbh Robert | Adjustment and control system drive and position measurement device |
| US5656908A (en) * | 1995-05-30 | 1997-08-12 | Allen-Bradley Company, Inc. | Negative coefficient filter for use with AC motors |
| JPH0945022A (en) * | 1995-08-01 | 1997-02-14 | Sharp Corp | Motor control device of information recording/ reproducing apparatus |
| DE19531692C2 (en) * | 1995-08-29 | 2000-01-13 | Clemens Schaeffner | Methods for the observation of immeasurable quantities of nonlinear dynamic systems |
-
1997
- 1997-08-16 DE DE19735581A patent/DE19735581A1/en not_active Withdrawn
-
1998
- 1998-08-07 EP EP98114845A patent/EP0901979B1/en not_active Expired - Lifetime
- 1998-08-07 DE DE59810145T patent/DE59810145D1/en not_active Expired - Fee Related
- 1998-08-13 JP JP22887098A patent/JP4603637B2/en not_active Expired - Fee Related
- 1998-08-13 TR TR1998/01571A patent/TR199801571A3/en unknown
- 1998-08-14 CN CN981183468A patent/CN1217836C/en not_active Expired - Fee Related
- 1998-08-17 US US09/134,969 patent/US6002230A/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| DE59810145D1 (en) | 2003-12-18 |
| DE19735581A1 (en) | 1999-02-18 |
| CN1217836C (en) | 2005-09-07 |
| TR199801571A2 (en) | 1999-10-21 |
| JP4603637B2 (en) | 2010-12-22 |
| EP0901979A1 (en) | 1999-03-17 |
| TR199801571A3 (en) | 1999-10-21 |
| US6002230A (en) | 1999-12-14 |
| EP0901979B1 (en) | 2003-11-12 |
| JPH11130346A (en) | 1999-05-18 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: OERLIKON TEXTILE GMBH & CO KG Free format text: FORMER NAME OR ADDRESS: SCHLAFHORST + CO. W Owner name: SCHLAFHORST & CO. W Free format text: FORMER NAME OR ADDRESS: W. SCHLAFHORST AG + CO. |
|
| CP03 | Change of name, title or address |
Address after: The Federal Republic of Germany in Remscheid leiwo Guselu Patentee after: OERLIKON TEXTILE GmbH & Co.KG Address before: The Federal Republic of Germany Monchengladbach Patentee before: SAURER GmbH & Co.KG Address after: The Federal Republic of Germany Monchengladbach Patentee after: SAURER GmbH & Co.KG Address before: The Federal Republic of Germany Monchengladbach Patentee before: W. Schlafhorst Ag & Co. |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20050907 Termination date: 20130814 |